PURPOSE: To dispense with such a job as making a structure at the tool side come into that at the driver side, simplifying the structure of a small locus working unit, and control a tool so accurately by constolling a locus of the tool with two drivers and linkage.
CONSTITUTION: A first arm 11 is directly connected to an output shaft 1 5 of a decelerator D1 in a first driver 9. Likewise a second arm 12 is directly connected to an output shaft 16 of another decelerator D2 of a second driver 10. Both these arms 11, 12 and a tool 2 are coupled together with two linkage devices 13 and 14, controlling a locus of this tool 2. At this time, forming five- bar linkage is formed by a base 8 and those of first and second arms 11, 12 and linkage devices 13, 14, and then these first and second drivers 9 and 10 both are locked to the base 8. In succession, each length of the arms and links is set so as to make one of intermediate bars come into this five-bar linkage.
TERADA AKIHIRO
SASAKI YASUO
| JPH03196989A | 1991-08-28 |